JP3749821B2 - Pedestrian road guidance system and pedestrian road guidance method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a pedestrian route guidance system and a pedestrian route guidance method particularly suitable for guiding a pedestrian from a departure place to a destination.
[0002]
[Prior art]
In recent years, various route guidance systems for guiding a user from a departure place to a destination have been developed. In general, car navigation is used as the route guidance. On the other hand, there are still few pedestrian route guidance systems, but several types have been commercialized. One is a GPS receiver that is miniaturized so that it can be carried. It does not display a map, but only displays the latitude and longitude of the current position and the distance and direction to the registered landmark. It is mainly used as outdoor equipment for mountain climbing. In addition, recently, with the downsizing of GPS receivers, products mounted on wristwatches have appeared. However, as a matter of course, it cannot be used to guide the street in the city.
[0003]
The other is a portable terminal that uses GPS or PHS location information services to determine the current location, and retrieves and displays maps and town information from a CD-ROM or the Internet. This mobile terminal is very convenient because it allows you to check the current position on a map and to check information about nearby shops. Services that search town information on the Internet and display a route map along with store information are often used. Usually, it is used as if it is printed out and walked, but if you carry such a terminal, you can use services related to the place with simple operations anytime and anywhere. These services currently only display store addresses and maps, but it would be even more convenient if you could give directions like car navigation. However, with the current system, the user can only use his / her own route while looking at the displayed map, and it can be used for walking while instructing the route as in car navigation. Can not. It is also dangerous to walk while looking at the map, and it is desirable to be able to walk while giving directions to the route if possible.
[0004]
In addition, in order to provide route guidance while issuing a route instruction like car navigation, it is necessary to accurately grasp the current position and give an accurate instruction at the timing when the user approaches the route change point. In the case of car navigation, there is a premise that the car runs on the left side of the road, and it can take relatively accurate values from various correction sensor means such as a distance meter and an acceleration sensor as well as GPS. In addition, since the position correction means using FM, beacon, etc. is provided as an infrastructure, it is possible to specify the position of the own vehicle fairly accurately.
[0005]
On the other hand, since a pedestrian walks on the sidewalk at the end of the road, it is difficult to receive GPS radio waves in the city, and there are few places where GPS can be used. In addition, since the GPS antenna cannot be fixed, there is a problem that the antenna cannot always be kept horizontal and reception accuracy is not stable. There is also a position acquisition means by PHS, but this also has an error of about 30 to 100 m, and there is a possibility that the location is shifted by one or two. Since the pedestrian is slow and the view from the sidewalk is narrow, the magnitude of this error is quite large for the pedestrian. Therefore, it is difficult to always keep the position of the pedestrian with the same accuracy as the car navigation, and it is difficult to give an instruction such as “turn the next intersection” at the correct position and timing. That is, a road guide system for pedestrians requires a road guide method different from car navigation.
[0006]
In the case of a car, the point where the course is changed is an intersection of the road, and the instruction can be almost given by the expression of the name of the intersection or the next signal. On the other hand, in the case of a pedestrian, landmarks such as buildings are mainly used as landmarks for specifying a place. For a pedestrian, the explanation is often as follows: “Turn right at an intersection with A-Eleven in the corner”. In pedestrian route guidance, it is very important to use landmarks effectively to indicate the course.
[0007]
As a landmark for guiding a pedestrian, a landmark that is easily visible from the sidewalk at the end of the road and can be distinguished at a glance is desirable. However, what is easy to see changes depending on the environment and the appearance of the landmark itself. Therefore, when selecting a landmark, the landmark must be selected in consideration. For example, because the scenery changes at day and night even in the same place, if you can go during the day but go again at night, you may get lost. This is because the landmarks differ between daytime and night. For example, if there are a flower shop and a bar at the same intersection, the colorful flowers at the storefront stand out during the daytime, but at night the bar sign on the bar is likely to be more visible.
[0008]
In addition, the distance at which a landmark can be visually checked varies depending on the landmark and time, and each landmark can select the landmark to be confirmed from a certain point and the timing for instructing the next landmark during walking. It is necessary to control in consideration of the distance that can be visually recognized.
[0009]
On the other hand, since it may be burdensome for the user to confirm the landmark, for example, when the GPS reception state is good and the position can be acquired accurately, the confirmation of the intersection that changes the course is confirmed. It is also necessary to control to reduce confirmation only before and after. On the other hand, when the GPS reception state is not good, it is necessary to perform route guidance while making a complicated check and correcting the position.
[0010]
The existing product described above is a system that simply displays the current position obtained from GPS or the like on a map, and is a system that is miniaturized so that it can simply carry the same system as a conventional car navigation system. Therefore, the above-mentioned problems unique to pedestrians are not taken into consideration. For example, how to select landmarks that are easy to check for pedestrians, how to check landmarks, timing for checking landmarks, and route instructions Issues such as how to do.
[0011]
[Problems to be solved by the invention]
As described above, in pedestrian route guidance, landmarks are necessary as information for confirming the location, and it is important to present landmarks that are easy to confirm from pedestrians. In addition, since landmarks that can be easily confirmed by pedestrians change depending on the time zone, it is necessary to provide route guidance by instructing landmarks that can be easily confirmed by pedestrians at the actual walking time.
[0012]
Furthermore, it is difficult to use GPS or the like from the position of a pedestrian walking along the edge of the road, and the position cannot be acquired with high accuracy at all times. For this reason, in order to guide the user while instructing the route, it is necessary to perform the route guidance while correcting the position by checking the landmark.
[0013]
The present invention has been made in consideration of such circumstances, and selects a landmark that is suitable for a walking environment and that can be easily confirmed by a pedestrian among many landmarks on the route. An object is to provide a pedestrian route guidance system and a pedestrian route guidance method for performing guidance.
[0014]
[Means for Solving the Problems]
In order to achieve the above-mentioned object, the present invention calculates a route from the input starting point to the destination from road data, and is suitable for confirmation from a pedestrian of landmarks that match the calculated route. It is selected from landmarks registered in advance and presented to the user.
[0015]
In the present invention, since a landmark that can be easily confirmed by a pedestrian is used for route guidance, the pedestrian can be appropriately guided from the departure place to the destination.
[0016]
In addition, the present invention calculates a route from the input starting point to the destination from road data, and a landmark suitable for the calculated route and the input time is suitable for confirmation from a pedestrian. A landmark including a valid time zone registered in advance is selected and presented to the user.
[0017]
In the present invention, since a landmark that can be easily confirmed by a pedestrian is used for route guidance during an actual walking time, the pedestrian can be more appropriately guided from the departure place to the destination.
[0018]
Further, the present invention calculates a route from the input starting point to the destination from road data, and a landmark that is registered in advance as a landmark suitable for confirmation from a pedestrian is suitable for the calculated route. The current position is acquired and the response including whether the displayed landmark is confirmed is input, and the acquired current position, its position acquisition accuracy, and input are selected. Based on the response, the accuracy between the current position assumed and the actual current position is determined, and in accordance with the determination result, a method for presenting pedestrian road guidance to the user is controlled.
[0019]
In this invention, since a landmark that is easy to confirm from a pedestrian is used for route guidance, in addition to being able to appropriately guide the pedestrian from the departure place to the destination, the acquired current position, In order to control the method of presenting pedestrian directions to the user according to the position acquisition accuracy and the response from the user, for example, the user is not forced to perform more complicated confirmation work than necessary, that is, Thus, appropriate route guidance with a minimum burden on the user can be realized.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0021]
(First embodiment)
First, a first embodiment of the present invention will be described.
[0022]
FIG. 1 is an example of a map generated by the pedestrian road guidance system according to the first embodiment. As shown in FIG. 1, this map is composed of a route from a departure point to a destination and landmarks necessary for determining the route. A branch point is a point where a course is changed, and is mainly an intersection, but a pedestrian crossing, a pedestrian bridge, an underpass, or the like in the middle of a road corresponds to a pedestrian. Landmarks are landmarks such as buildings, pedestrian bridges, traffic lights, signboards, etc., and the minimum requirement for a pedestrian to reach a destination with reference to a map as shown in Fig. 1 is a branching point that changes the course. And a landmark that can identify the path from there. Furthermore, if the distance from the branch point to the branch point is long, it is difficult for the pedestrian to determine a distance of several tens of meters or more, so show the landmark on the way to the next branch point You also need a landmark that tells how long you have come. In addition, landmarks to be confirmed in the middle are also necessary to give a sense of security by confirming whether the current walking path is correct.
[0023]
In order to consider landmark conditions suitable for pedestrian route guidance, we must first consider the characteristics of pedestrians. In the case of a car, it can be assumed that the driver is 18 years of age or older and has knowledge related to traffic signs such as road names, but the pedestrian cannot be limited. Therefore, as a pedestrian mark, a mark that is generally known and can be recognized at a glance is suitable. Examples of conditions that satisfy this condition include convenience stores that have a unique and unified signboard and store exterior, chain stores such as family restaurants, post offices, fire stations, and banks.
[0024]
As another pedestrian feature,
(1) Since the pedestrian walks on the sidewalk at the end of the road, the viewing range is narrower than the car running on the roadway.
[0025]
(2) Pedestrians are slow in moving speed. Generally, it takes 1 minute 30 seconds to move 100 meters because it is 4 km per hour.
[0026]
There is something like this.
[0027]
The role of the landmark is to identify the location, and in order to identify it, the name of the building must be known. Large facilities such as factories and schools can recognize that there is something like a school even from a distance, so it is used as a landmark on road maps and the like. However, in order to confirm whether it is an elementary school or junior high school, and what kind of school it is, you have to move to a place with a school gate. As mentioned above, this is inconvenient for pedestrians with slow movement speeds. A pedestrian is suitable as a landmark so that the name of the building can be confirmed without moving so much at the narrow viewing distance, and a large facility such as a factory or school is not suitable as a landmark. When there is no other suitable landmark and a school is used as a landmark for pedestrians, it must not be used to explain the vicinity of a branch point. It may be used as a mark for confirming how far the vehicle has advanced in a state where the current walking route is already confirmed by another landmark. Furthermore, in that case, the user is instructed so that the vague confirmation of “the school is on the right” is sufficient. That is, schools do not select as landmarks 1 and 2 in FIG. 1, and if used, they are limited only to let the user determine where the landmarks 3 and 5 are located. Thus, it is necessary to control the selection of landmarks.
[0028]
FIG. 2 is an overall configuration diagram of the pedestrian road guidance system according to the first embodiment. The input unit 1 is used for inputting a departure place and a destination for which the user desires route guidance. The road data storage unit 2 stores road network data and is used to calculate a walking route between the departure point and the destination designated by the input unit 1 by the route calculation unit 3. The landmark storage unit 4 stores landmark information that serves as landmarks when walking, such as buildings and intersections. The landmark selection unit 5 selects landmarks suitable for pedestrians from landmarks along the route. Selected. Then, using the route obtained by the route calculation unit 3 and the landmark obtained by the landmark selection unit 5, the presentation unit 7 presents route guidance information to the user. The route guidance control unit 6 controls the exchange of these information.
[0029]
FIG. 3 is a flowchart for explaining the overall operation of the pedestrian road guidance system of the first embodiment. The pedestrian road guidance system starts executing when a user calls for execution of road guidance. First, the user inputs where he wants to go (step A1). For example, a screen as shown in FIG. 4 is displayed, and a departure place and a destination are input. As a method of designating the departure place and the destination, there are a method of having the nearest station name, landmark name, address, telephone number input, a method of displaying a map and pointing. As for the departure place, it is combined with a position acquisition means provided separately so that the current position acquired by the position acquisition means can be automatically set as an initial value, or a home or a company can be registered in advance. It is also possible. As another input method, it is also possible to perform voice input using a voice recognition means provided separately.
[0030]
Next, a walking route is obtained (step A2). As a route calculation method, a method such as preferentially selecting a route with a sidewalk for a pedestrian can be considered. Here, for example, a Dijkstra method known as an algorithm for solving the shortest route is used for route calculation. Is used. As a result of the route calculation, route data from the departure point to the destination as indicated by the arrows in FIG. 1 is obtained.
[0031]
Next, a landmark along the route obtained in step A2 is obtained (step A3). In the landmark storage unit 4, items as shown in FIG. 5A are stored for each landmark. The landmark ID is a key for identifying the landmark and is uniquely given for each landmark. The name is a detailed designation of the landmark and is sufficient information to determine which landmark is at that location. The type is a name indicating the type of the landmark, and is information sufficient to roughly check the landmark. The position is position information of the landmark, and is specified by latitude and longitude.
[0032]
FIG. 5B shows information on suitability as a landmark for pedestrians according to the type of landmark. In the example shown in FIG. The larger the number, the higher the aptitude, and the fact that factories and schools are not suitable.
[0033]
In this step A3, first, landmarks along the route obtained in step A2 are searched from the landmark position information. Next, landmarks are selected according to the pedestrian suitability shown in FIG. As landmarks near the branch point, those having pedestrian suitability of 5 or 4 are selected, and those having 1 or 2 are excluded. In order to confirm the distance between the branch points, the landmarks are selected at regular intervals as much as possible. If there are multiple landmarks in the vicinity of a fixed interval, select the one with the highest pedestrian suitability. As a result, landmarks suitable for pedestrian route guidance are selected.
[0034]
Next, using the route obtained in step A2 and the landmark obtained in step A3, the route guidance is presented to the user (step A4). FIG. 6 shows an example in which the route guidance is displayed as a map on the screen display device. The landmarks near the bifurcation points are indicated by the names of the landmarks because the landmarks with high pedestrian suitability are selected in order to specify the location. Since the landmark between the branch points is selected in order to check how far the branch point has been advanced, the pedestrian suitability is not necessarily high. Therefore, the presentation is changed depending on the pedestrian suitability. For example, a high pedestrian suitability is presented by name, and a low suitability is presented by type. In FIG. 6, since only a factory is selected as a landmark in the middle of the branch point, “factory” is presented by type in consideration of low pedestrian suitability. In addition, because the user's load is high to confirm the name of the landmark, if there are not two or more of the same thing between the branch points, the landmark for confirmation on the way is classified according to the pedestrian suitability. It is also possible to control as indicated by.
[0035]
As described above, according to the pedestrian route guidance system of the first embodiment, the pedestrian can easily present the landmark suitable for identifying the position of the pedestrian himself / herself. A route guide suitable for use will be realized.
[0036]
(Second Embodiment)
Next explained is the second embodiment of the invention.
[0037]
In the second embodiment, a pedestrian road guidance system that presents road guidance using landmarks that can be easily confirmed by pedestrians at the actual walking time will be described. FIG. 7 is an overall configuration diagram of the pedestrian road guidance system of the second embodiment. The input unit 1 is used for inputting a departure point and a destination for which the user wants route guidance and the actual walking time. The road data storage unit 2 stores road network data and is used to calculate a walking route between the departure point and the destination designated by the input unit 1 by the route calculation unit 3. The landmark storage unit 4 stores landmark information that serves as landmarks when walking, such as buildings and intersections. The landmark selection unit 5 performs landmarks along the route according to the time specified by the input unit 1. A mark is selected. Then, using the route obtained by the route calculation unit 3 and the landmark obtained by the landmark selection unit 5, the presentation unit 7 presents route guidance information to the user. The route guidance control unit 6 controls the exchange of these information.
[0038]
FIG. 8 is a flowchart for explaining the overall operation of the pedestrian road guidance system of the second embodiment. The pedestrian road guidance system starts executing when a user calls for execution of road guidance. First, ask the user to input when and where to go (step B1). For example, a screen as shown in FIG. 9 is displayed, and the departure point, destination, and time are input. As a method of designating the departure place and the destination, there are a method of having the nearest station name, landmark name, address, telephone number input, a method of displaying a map and pointing. As for the departure place, it is combined with a position acquisition means provided separately so that the current position acquired by the position acquisition means can be automatically set as an initial value, or a home or a company can be registered in advance. It is also possible. In addition, the time is specified as the time of actual walking. In this case, the current time can be set as an initial value, or the time and the destination can be set in conjunction with a separately provided schedule management. Furthermore, as another input method, voice input can be performed using voice recognition.
[0039]
Next, a walking route is obtained (step B2). As a result of the route calculation, the route data from the departure point to the destination as shown by the arrow in FIG. 1 is obtained as in the first embodiment.
[0040]
Next, a landmark along the route obtained in step B2 is obtained (step B3). In the landmark storage unit 4, items as shown in FIG. 10A are accumulated for each landmark. The landmark ID is a key for identifying the landmark and is uniquely given for each landmark. The name is a detailed designation of the landmark and is sufficient information to determine which landmark is at that location. The type is a name indicating the type of the landmark, and is information sufficient to roughly check the landmark. The fitness time is a time zone in which the landmark is easy to confirm from a pedestrian. The position is position information of the landmark, and is specified by latitude and longitude.
[0041]
FIG. 10B shows default value information of aptitude time according to the type of landmark. For landmarks for which the appropriate time information has not been acquired individually, the default value is referred to from the type to determine the appropriate time.
[0042]
In this step B3, first, landmarks along the route obtained in step B2 are searched from the landmark position information. Next, the appropriate time of each landmark is collated using the time designated in step B1, and only those landmarks whose designated time is within the appropriate time are selected. Thereby, landmarks that are easy to confirm at the actual walking time can be used for the route guidance. In fact, for example, when walking in a shopping street in front of a station, most shops are closed early in the morning, and the only signs that can be found are convenience stores and fast food stores. When this is daytime, most shops are open and can be used as landmarks. On the other hand, at night, neon lights of restaurants and the like become conspicuous. Thus, what is suitable as a landmark even in the same place varies depending on the time zone, and time must be taken into consideration when guiding a pedestrian.
[0043]
Next, using the route obtained in step B2 and the landmark obtained in step B3, the route guidance is presented to the user (step B4). FIG. 6 shows an example in which the route guidance is displayed as a map on the screen display device. It is also possible to provide route guidance by announcing route guidance in order. FIG. 11 is an example when the route guidance data of FIG. 6 is performed by voice dialogue. On the side where the system is written, these text strings are output as speech by speech synthesis from the system. On the other hand, if the instruction from the system side can be confirmed from the user side, “Yes” is answered, and if it is not possible, “No” is answered, and the result of voice recognition of the answer is shown.
[0044]
FIG. 12 is a portable example of such a pedestrian road guidance system. Voice instructions and dialogues are made with the microphone of the headset, and walking is performed according to the direction guidance instructions from the speakers. It is also possible to carry a head-mounted display or a small display device separately so that the map and the distance to the next branch point can be confirmed. In addition, it is possible to carry a mobile phone by displaying a map or a guidance text on a display such as a mobile phone or by synthesizing the guidance text without using a headset.
[0045]
Thus, according to the pedestrian road guidance system of this second embodiment, according to the city landscape that changes with time, it is possible to provide landmarks that are easy to check for pedestrians at that time, A route guide more suitable for pedestrians will be realized. Therefore, when actually providing a route guide to a store with a town information service combined with a route guide, it is possible to provide a route guide corresponding to a 24-hour service.
[0046]
(Third embodiment)
Next explained is the third embodiment of the invention.
[0047]
In the third embodiment, a means for acquiring the current position of the user, a means for measuring the movement distance of the user, and a means for determining how much the current position is obtained are added. A pedestrian route guidance system for changing the way of guiding a user according to accuracy will be described. FIG. 13 is an overall configuration diagram of the pedestrian road guidance system of the third embodiment. As shown in FIG. 13, the pedestrian road guidance system of the third embodiment includes a position acquisition unit 8 for acquiring the current position of the user in the pedestrian road guidance system of the second embodiment, The moving distance acquisition unit 9 for measuring the moving distance of the user and the accuracy of the current position can be determined from the information obtained from the position acquisition unit 8 and the result of the dialogue between the user and the user. The position accuracy determination unit 10 is added.
[0048]
The position acquisition unit 8 is for detecting where the user is currently, and includes GPS satellite reception, PHS position information service, and the like. It is also possible to use a beacon using radio waves or infrared rays installed on a sidewalk or a store. As position information, in addition to latitude and longitude, for example, an ID representing a place, an address, or the like can be used. The movement distance acquisition unit 9 is a pedometer, for example, and notifies the number of steps so far in response to a request from the road guidance control unit 6. The position accuracy determination unit 10 determines two types of accuracy: position acquisition accuracy and position confirmation accuracy. The former is the position acquisition accuracy of the position acquisition unit 8. The position acquisition accuracy varies depending on which method, such as GPS or PHS, is used for the position acquisition unit 8. For example, in the case of GPS, the current position can be acquired with an accuracy within 100 m. However, this accuracy is influenced by the number of satellites that can be received, and in many cases, pedestrians cannot receive the satellites. The position accuracy determination unit 10 acquires current accuracy information or information such as a reception state necessary for determining accuracy information from the position acquisition unit 8, and determines the position acquisition accuracy. The latter is an accuracy representing how much the position where the system is guiding the road and the position where the user is actually walking are matched.
[0049]
Here, a method of changing the way of guiding the user according to the position acquisition accuracy and the position confirmation accuracy obtained from the position accuracy determination unit 10 will be described with reference to FIG. In FIG. 14, the position acquisition accuracy and the position confirmation accuracy are classified into two levels of high and low, respectively, and four patterns are controlled in accordance with each situation. First, the landmark confirmation frequency is changed depending on the position acquisition accuracy. When the position acquisition accuracy is high, for example, when the position is required with an accuracy of about 20 m, the current position obtained from the position acquisition unit 8 is in a range that can be sufficiently viewed by the user, and frequently confirms the landmark. There is no need to check the current position. Therefore, the explanation frequency is lowered and the interval for confirming the landmark is lengthened. On the other hand, when the position acquisition accuracy is low, for example, when there is an error of 100 m or more, the current position obtained from the position acquisition unit 8 may greatly exceed the range visible to the user. Therefore, it is necessary to check the current position by frequently checking the landmark.
[0050]
In the position confirmation accuracy, the method of explaining the landmark is changed. If the accuracy of the location confirmation is high, the location is confirmed by dialogue and it is determined that you are walking on the correct route, so explain the landmarks in a definite tone and confirm with the user. Proceed with the dialogue without necessarily needing it. On the other hand, if the position confirmation accuracy is low, the position cannot be confirmed by dialogue regardless of the position confirmation accuracy, and it is not walking on the correct route, or there are many secular changes. Since the judgment is made, the explanation of the landmark is explained in a confirmation tone, and the dialogue is advanced so as to obtain confirmation from the user.
[0051]
FIG. 15 is a flowchart for explaining the overall operation of the pedestrian road guidance system of the third embodiment. In FIG. 15, steps C1 to C33 operate in the same manner as in the second embodiment. Thereafter, in the third embodiment, the route guidance is performed by repeating the operation of guiding the route to the next branch point until the destination is reached. Steps C5 to C7 in FIG. 15 are guidance operations to the next branch point, and this operation is repeated until the current position becomes the destination.
[0052]
With reference to FIG. 16, the outline of the route guidance operation (step C5 to step C7) to the next branch point will be described. First, the traveling direction is confirmed from the current position (starting point or branching point) (step C5). Confirmation of the traveling direction is performed by confirming a landmark near the branch point as shown by a black circle in FIG. Priority is given to landmarks used for route confirmation that do not exist on other routes, are at a sufficiently visible distance from the branch point, and can be easily confirmed up to the landmark information name level in FIG. Select.
[0053]
Next, an interval distance for confirming the landmark is determined from the position acquisition accuracy, and the landmark is confirmed for each distance (step 146). A white circle in FIG. 16 is a landmark to be confirmed on the way.
[0054]
When it comes close to the next branch point, a branch point confirmation operation is performed (step C7). In order to specify the position of the branch point, a very close landmark as shown by a triangle in FIG. 16 is checked. The above operation is repeated from step C5 until the next branch point.
[0055]
FIG. 17 is a flowchart detailing the operation of step C5. First, the traveling direction from the branch point will be described (step D1). For example, “Turn right”. If the current location is the departure location, nothing is done because direction indication may not be possible.
[0056]
Next, in order to confirm that the selection of the new route has been performed correctly and to indicate to the user the route when the current point is the departure point, a landmark for confirming the route is selected (step D2). Each landmark has item data as shown in FIG. Compared to the second embodiment, the landmark includes an item of a visible distance that represents the maximum distance at which the landmark can be visually confirmed. Since the viewable distance varies depending on the time zone and the weather, it is desirable to set it for each case. In FIG. 18, daytime and nighttime are set. As in the second embodiment, the landmark is selected in consideration of the suitability time and the distance from the branch point within the visible distance.
[0057]
If there is no corresponding landmark, the process proceeds to step D7, and if there is, the process proceeds to step D4 (step D3).
[0058]
If there is a corresponding landmark, the user is instructed to confirm the landmark (step D4). For example, in the example of FIG. 16, the landmark is confirmed by inquiring the user a question such as “Is there a Sakura Bank on the right side 20 meters ahead?”.
[0059]
A confirmation of whether or not the object can be seen is input by the pointing device or the voice recognition means of the input unit 1 (step D5). If not confirmed, the process returns to step D2 to confirm another landmark. On the other hand, if it can be confirmed, the user is informed that the course is correct (step D6). For example, the user is informed “Please proceed as it is”, and proceed to Step D13.
[0060]
If the landmark cannot be confirmed, the position confirmation accuracy of the position accuracy judgment unit 10 is confirmed (step D7). If the position confirmation accuracy is high, the current branch point is correct but there is no suitable landmark. Explain and instruct to proceed as it is (step D8). On the other hand, if the position confirmation accuracy is low, it is not enough to confirm that the current branch point is correct, so explain to the user that the current position may not be correct and ask the user to decide the action. (Step D9). For example, the user proceeds as it is based on the judgment of the user (step D10). Alternatively, the vehicle is moved to the front and rear intersections, and the route is confirmed again from step D1 (step D11). Further, it is determined that the route guidance is difficult, the route guidance by the system is interrupted, the map is manually displayed, etc., and the user is directed to the destination (step D12).
[0061]
Finally, the position confirmation accuracy is reset according to the landmark confirmation status (step D13). For example, if the landmark cannot be confirmed, set to low, and if it can be confirmed, set to high.
[0062]
Next, with reference to FIG. 19, the landmark confirmation operation in the middle of step C6 will be described.
[0063]
First, the landmark confirmation interval distance is set from the position acquisition accuracy of the position accuracy determination unit 10 (step E1). For example, as shown in FIG. 14, the landmark confirmation interval distance is set to 30 m if the position acquisition accuracy is high, or 100 m if the position acquisition accuracy is low.
[0064]
Next, the landmark explanation mode is set to the determination mode or the confirmation mode from the position confirmation accuracy of the position accuracy determination unit 10 (step E2). For example, as shown in FIG. 14, the determination mode is set when the position confirmation accuracy is high, and the confirmation mode is set when the position confirmation accuracy is low.
[0065]
Then, a landmark that is separated from the current position by the landmark confirmation interval distance set in step E1 is selected (step E3). The landmark is selected from the landmark information shown in FIG. 18 with reference to the position and the appropriate time. If the selected landmark is a landmark near the next branch point, the process proceeds to step E7, and if not, the process proceeds to step D5 (step D4).
[0066]
Here, with reference to FIG. 20, the timing for instructing the user to confirm the landmark will be described. Since the interval distance for confirming the landmark varies depending on the position acquisition accuracy, it is necessary to adjust the timing for issuing the instruction. It is desirable that the explanation starts at a point just before the landmark to be confirmed can finally be confirmed. Therefore, the point at which the explanation is started is a point in front by a distance obtained by adding the visible distance of the landmark from the next landmark and the distance moved between the explanations. Therefore, the measurement by the movement distance acquisition unit 9 is started from the point where the previous landmark is confirmed, and the explanation is started when the distance to the explanation start point is moved (step E5 to step E6).
[0067]
Next, the landmark is explained according to the explanation mode set in step E2 (step E7). For example, in assertive mode, “There is a bookstore on the right.”
In the confirmation mode, the user asks for confirmation such as “Is there a bookstore on the right side?”. At this time, the landmark may be described by type in the determination mode, and may be described by name in the confirmation mode. In other words, if there is a decision mode, “There is a bookstore on the right side”, and if it is a confirmation mode, “Is there a Sato bookstore on the right side?” Is explained.
[0068]
Next, the landmark is confirmed by the user (step E8). When the explanation mode is the assertion mode, the movement distance is determined from the movement distance acquisition unit 9, and if there is no response from the user even when the position is estimated to be the landmark position, the process returns to step E1. When the explanation mode is the confirmation mode, the user waits for a reply of confirmation by the user, and if there is no response from the user even when the position of the landmark is estimated, the response is requested again. For confirmation, the user confirms whether or not it can be seen by a pointing device or voice recognition means of the input unit 1.
[0069]
Then, the position confirmation accuracy is reset according to the confirmation result of the user. For example, if the position confirmation accuracy cannot be confirmed, the position confirmation accuracy is reset to low, and if it can be confirmed, the precision is reset to high (step E9). FIG. 21 is a flowchart illustrating in detail the confirmation of the branch point in step E7, and the operation is performed in substantially the same manner as the course confirmation operation in FIG.
[0070]
As described above, it is possible to change the dialogue method when confirming the landmark according to the position acquisition accuracy and the position confirmation accuracy, and to perform appropriate route guidance according to the situation.
[0071]
As described above, according to the pedestrian road guidance system of the third embodiment, since it is possible to guide the user according to the position acquisition accuracy and the position confirmation accuracy, the user is more complicated than necessary. It is possible to realize route guidance that minimizes the burden on the user without requiring a simple confirmation work or neglecting the necessary confirmation.
[0072]
(Fourth embodiment)
Next explained is the fourth embodiment of the invention.
[0073]
In the pedestrian route guidance system of the third embodiment described above, the route guidance is performed through dialogue with the user. Next, in the fourth embodiment, a means for acquiring landmark information from the dialogue with the user is added, and the pedestrian who learns the landmark information and reflects the learning result in the next route guidance method. A use guidance system will be described. FIG. 22 is an overall configuration diagram of the pedestrian road guidance system of the fourth embodiment. As shown in FIG. 22, the pedestrian road guidance system of the fourth embodiment is obtained by adding a landmark information editing unit 11 to the pedestrian road guidance system of the third embodiment.
[0074]
The landmark information editing unit 11 determines which landmarks can be visually confirmed from where and through the landmark confirmation dialogue with the user, and edits the landmark information in the landmark storage unit 2. .
[0075]
With reference to FIG. 23, what kind of landmark information is acquired from the dialogue will be described. FIG. 23 shows that a 7-story condominium called Maison G is used as a landmark for specifying the branch point 8. When the user walks from the branch point 9 toward the branch point 8 and turns toward the branch point 45, this pedestrian route guidance system reads “Maison Kashimada on the left side” in front of the Maison G on the route 11. Ask the user for confirmation. When the user replies “visible”, it can be seen that the name of the building can be confirmed from the branch point 9 side of the route 11. When the user responds “I can't see it”, I also have a dialogue such as “Is there a condominium?” Or “Can you see a 7-story building?”. As a result, for example, information such as a name indicating that the building is a seven-story building can be obtained although the name is unknown. Being asked for confirmation of something that cannot be confirmed will cause anxiety to the user, so if you know that the name can not be confirmed, when explaining the landmark from the next, "7 stories on the left side It is desirable to say "Do you have a building?"
[0076]
FIG. 24 shows the landmark information stored in the landmark storage unit 2 of the fourth embodiment. Compared with the landmark information of FIG. 18, the landmark confirmation information of (b) of FIG. 24 is added. The landmark ID is a key for identifying the landmark. For example, ID 4 is found to be the ID of the house G in FIG. The route ID is a key for identifying a route, and the branch point ID is a key for identifying a branch point. The route ID and branch point ID indicate which route is the information when walking from which branch point. Time represents the time at which the confirmation was made. The confirmation level represents the extent to which the landmark can be confirmed. Here, the confirmation level is set in three stages of the name, type, and floor number of the landmark information item in FIG. The name is at a level sufficient to identify the landmark and becomes ambiguous as the type and floor number are advanced. The data in the first row in FIG. 24B indicates that when the house G approaches the route 11 from the branch point 8, the name level can be confirmed at 13:00. That is, it indicates that the name of the building named Maison G can be confirmed.
[0077]
The operation of the landmark confirmation dialogue with the user will be described with reference to FIG. The operation shown in FIG. 25 is an operation when the landmark is confirmed with the user in the third embodiment, and the other operations are performed in the same manner as in the third embodiment.
[0078]
First, it is checked whether landmark confirmation information corresponding to the current course has been acquired for the selected landmark (step G1). The information shown in FIG. 25B is searched from the landmark ID, the route ID, the branch point ID, and the time, and the landmark confirmation information is searched from the landmark storage unit 2.
[0079]
If the corresponding landmark confirmation information exists, the landmark is explained at the confirmation level (step G2). For example, if the confirmation level is a type, “there is a bookstore on the right side” will be explained.
[0080]
If the landmark confirmation information is not acquired, it is not known how much confirmation is possible, so the confirmation is performed in order from the most ambiguous level. First, the floor number is confirmed (step G3). For example, confirm that there is a 7-story building? If confirmation is possible, the type is further confirmed (step G5). For example, confirm that it is an apartment. If this confirmation is possible, the name is further confirmed (step G7). For example, confirm that it is “Maison G?”.
[0081]
In addition, in order to avoid anxiety due to inability to confirm, for example, before asking "Maison G?", Ask "Do you know the name of the building?" An interactive procedure of listening to the name may be added.
[0082]
Since it can be seen from which confirmation level the visual recognition level has been confirmed, new visual recognition information (landmark ID, route ID, branch point ID, time, visual recognition level) is added to the landmark (step G9). . At this time, it is also possible to set “unsuitable” as the visual recognition level for the landmarks for which even the floor number cannot be confirmed, so that they are not selected as landmarks on the route from the next time.
[0083]
In step G1, if there is data when walking from the opposite side even if there is no data when walking along the route from that direction, it is unlikely that the viewing level will change depending on the direction on the same route. You may decide to substitute.
[0084]
Furthermore, convenience stores, family restaurants, etc. can be confirmed at a glance in most cases, and in general stores, confirmation by type is often used, so the default value of landmark information for each type in FIG. It is also possible to add an item of a confirmation level to the process.
[0085]
As described above, according to the pedestrian road guidance system of the fourth embodiment, once the landmark is confirmed, the landmark can be confirmed with less dialogue from the next time. Information such as which landmark is suitable and when is the appropriate time is accumulated. Furthermore, by sharing this information, it is possible to provide better directions to other users for places that have been visited once.
[0086]
(Fifth embodiment)
Next explained is the fifth embodiment of the invention.
[0087]
In the fifth embodiment, in addition to the pedestrian road guidance system of the third embodiment described above, a pedestrian road guidance system that performs guidance according to a state such as a user's anxiety will be described. In the pedestrian road guidance system of the third embodiment, the interval for confirming the landmark is determined based on the position acquisition accuracy. However, even if the position acquisition accuracy is high, the place to guide may be the first place for the user. Sometimes you may want to be guided frequently. Therefore, in the pedestrian road guidance system of the fifth embodiment, as shown in FIG. 26, an anxiety level acquisition unit 12 is added to the configuration of the pedestrian road guidance system of the third embodiment. . The anxiety level acquisition unit 12 detects the degree of anxiety of the user and notifies the route guidance control unit 6 that the anxiety level has exceeded a certain level.
[0088]
As a means of obtaining the degree of anxiety, a method of using a biometric sensor such as a heart rate sensor or a sweat sensor, a method of recognizing monologues such as `` Uto '' and `` Is this OK? '' A method such as monitoring the movement of the neck with an acceleration sensor or the like and capturing actions such as jogging can be considered.
[0089]
With reference to FIG. 27, it will be described how guidance is performed after the user's anxiety is detected. When the operation for confirming the landmark in the middle described in the third embodiment is performed, the confirmation of the landmark is activated according to the user's anxiety. In FIG. 27, a landmark at a black circle is selected as a landmark to be described next. Here, if the road guidance control unit 6 is notified that the anxiety level acquisition unit 12 has detected the user's anxiety, the road guidance control unit 6 searches for a landmark that can be explained earliest from the present time. The landmark at the point is searched, and the landmark described below is set as this landmark. Thereafter, returning to the same operation as in the third embodiment, the explanation of the landmark is started when the point where the explanation starts is reached.
[0090]
In addition, when entering a destination, an item for entering whether or not the place has no sense of land is added, and the setting of the landmark check interval distance can be changed accordingly, or the interval can be freely changed by option setting It is also possible to make it possible.
[0091]
As described above, according to the pedestrian road guidance system of the fifth embodiment, the necessary information can be provided when information is needed by detecting the psychological state of the user. It is possible to perform route guidance so as to eliminate the anxiety felt by the person.
[0092]
(Sixth embodiment)
Next, a sixth embodiment of the invention will be described.
[0093]
FIG. 28 shows an overall configuration diagram of the sixth embodiment. In the sixth embodiment, the input unit 1 of the third embodiment described above is used as a voice recognition means for recognizing a vocabulary of voice uttered by a user. This speech recognition means has dictionary information for a vocabulary subject to speech recognition, and it is necessary to designate a vocabulary candidate to be recognized in advance. In particular, in a small terminal that can be carried by a pedestrian, a high-speed arithmetic device cannot be used. Therefore, as a usable voice recognition means, the number of candidates that can be recognized at once for isolated words is limited. End up. In terms of improving recognition accuracy, it is more effective to reduce the number of candidates as much as possible if the number of candidates can be limited.
[0094]
As explained in each of the embodiments so far, in the dialogue in which the system side instructs the landmark and the user side simply answers the existence recognition, there are not enough candidate vocabularies to be designated as speech recognition means, so the problem is No. However, when there are few appropriate landmarks, such as a residential area, or when you get lost on the way, there may be cases where it is not possible to specify an appropriate landmark from the system side. In such a case, it is necessary for the system side to confirm the current position and to provide route guidance by having the user side input nearby landmarks and address notations. In that case, simply making all landmarks and address notations on the route into candidate vocabulary for speech recognition is likely to have too many vocabularies, so the number of vocabularies may be limited in some way. is necessary.
[0095]
FIG. 29 shows an operation flow of the route guidance control unit 6 when the user is informed of nearby landmark information. As shown in FIG. 17 between step D7 and step D9 or between step F6 and step F8 in FIG. When the confirmation by the user is not obtained in step E8 of 19 and the position confirmation accuracy calculated in step E9 is lowered, and it becomes doubtful whether the user is walking on the route correctly, this operation flow is added.
[0096]
First, landmarks near the point where the user is supposed to be present are searched from the landmark storage unit 4 (step H1). The search range is controlled by the position acquisition accuracy of the position acquisition unit 8 and the position confirmation accuracy obtained by the dialogue for route guidance. When the position acquisition accuracy is high, the landmark within the range of the maximum error of the position acquisition unit 8 is searched. FIG. 30 shows an example of a landmark search range when the user needs to input a landmark near the landmark 3 and the position acquisition accuracy is high. The range of the circle indicated by diagonal lines in the figure represents the maximum error range of the position acquisition unit 6, and the landmark names of the landmarks 2 and 4 are candidate vocabularies.
[0097]
When the position acquisition accuracy is low, the range is determined with the position confirmation accuracy. Search for landmarks that can be moved within the distance traveled from the point with the highest location accuracy through the dialog of the route guide to the present. FIG. 31 shows a case where the landmark at the branch point 2 has the highest position acquisition accuracy at the end. When the landmark input by the user is necessary near the landmark 5 and the position acquisition accuracy is low. Represents an example of a search range of landmarks. A range indicated by diagonal lines in the figure is a search range, and represents a range that can be moved by a distance from the branch point 2 to the landmark 5. In this example, the landmark names of the landmarks 8 and 9 are candidate vocabularies.
[0098]
In FIG. 23, buildings are mainly used as landmarks, but address notation may be added as landmarks by adding block information to the landmark storage unit 4.
[0099]
Next, the process is branched depending on the number of landmarks searched (step H2). The number of candidate vocabulary that the speech recognition means can recognize in real time and with sufficient accuracy is Nmax, and the number of vocabulary such as “yes” and “no” necessary for conducting basic dialogue with speech guidance is Nmin. Then, N is Nmax−Nmin.
[0100]
If the number of landmarks is greater than N, it is difficult to input landmarks by voice recognition, so candidates are narrowed down. The type of the searched landmark is examined, and a list of corresponding type names is set as a recognition candidate vocabulary of the speech recognition means (step H3).
[0101]
Then, the user is instructed to search for nearby landmarks and input the type by voice, and the type name is acquired as a recognition result (step H4). For example, as shown in FIG. 32, a question “is there a convenience store, bank, cleaning, etc. in the vicinity?” Is asked by voice synthesis, and a voice response “cleaning” is obtained from the user.
[0102]
If the type corresponding to the selected type is not found in the vicinity of the user and the type cannot be recognized (NO in step H5), the process proceeds to step D9 in FIG. 17 or step F8 in FIG. Interrupt the guidance. On the other hand, if the type can be confirmed (YES in step H5), the process proceeds to step H6.
[0103]
If the number of landmarks is less than or equal to N in step H2, or if the type of landmark can be confirmed in step H5, the process proceeds to processing for having the user confirm the landmark. When the process moves from step H2, the landmark name list searched in step H1 is set as a recognition candidate vocabulary of the speech recognition means. When the process moves from step H5, only landmarks corresponding to the type instructed by the user are selected, and a list of landmark names is set as a recognition candidate vocabulary for the speech recognition means (step H6).
[0104]
Next, the user is searched for nearby landmarks and instructed to input the landmark names by voice, and the landmark names are acquired as recognition results (step H7). For example, as shown in FIG. 32, a question “What is the name of the shop?” Is asked by voice synthesis, and a voice response “ABC cleaning” is obtained from the user.
[0105]
If the landmark name cannot be confirmed (NO in step H8), the process proceeds to step D9 in FIG. 17 or step F8 in FIG. 21, and the route guidance is interrupted. Alternatively, the process proceeds to step H3, where another landmark type is searched for, and the landmark name is confirmed again with another type of landmark. If the landmark name can be confirmed, the process proceeds to step H9.
[0106]
If the landmark name can be confirmed (YES in step H8), the user is instructed to move to the landmark, and the current location of the user managed by the system is set to the landmark. It is set before the mark (step H9).
[0107]
If the current point is on the route obtained in step C2 in FIG. 15, the process proceeds to step C4 in FIG. 15, and the route guidance is continuously executed according to the operation flow in FIG. On the other hand, if the current location is out of the route obtained in step C2 in FIG. 15, the process proceeds to step H11 (step H10).
[0108]
If the route is off, the user is notified that the road has been mistaken, and the process proceeds to step C2 in FIG. Resume (step H11). At this time, it may be possible to prevent the user from making the same mistake in the next guidance by explaining to the user where the course was wrong and what should have been done.
[0109]
In this example, the number of landmarks is narrowed down by checking the type of landmarks when the number of landmarks is large. However, only landmarks on the route are first confirmed as candidates. It is also possible to use a narrowing method of gradually expanding the range to the periphery.
[0110]
As described above, even when an appropriate landmark cannot be instructed from the system side, it is possible to provide route guidance by instructing the landmark from the user side. In addition, it is possible to input by voice while always specifying an appropriate recognition candidate vocabulary for the speech recognition means for which the recognition candidate vocabulary has to be set in advance.
[0111]
In addition, here, how to narrow down the number of candidates when the input unit 1 is a voice recognition unit has been described. For example, as shown in FIG. 33, a plurality of options are displayed in a list on a display screen of a mobile phone. However, this method of limiting the number of candidates can also be applied to a menu selection unit in which the user gives a selection instruction by pressing a corresponding operation button (FIG. 33B). That is, if the number of applicable landmarks is greater than the number that can be displayed in a list, in order to narrow down the candidates, first, the type of the landmark is examined and displayed as a list, and the type designated and instructed from among the types is displayed. If only the landmarks are displayed as a list, it is possible to instruct the menu selection means having a limited number of lists to be displayed while always displaying suitable candidates as a list.
[0112]
【The invention's effect】
As described above in detail, according to the present invention, since a landmark that can be easily confirmed by a pedestrian is used for route guidance, the pedestrian can be appropriately guided from the departure place to the destination.
[0113]
In addition, since a landmark that can be easily confirmed by the pedestrian during the actual walking time is used for the route guidance, the pedestrian can be more appropriately guided from the departure place to the destination.
[0114]
Furthermore, in order to control the method of presenting pedestrian road guidance to the user according to the acquired current position, the position acquisition accuracy, and the response from the user, for example, the user needs to perform more complicated confirmation work than necessary. There is no need to be forced, that is, an appropriate route guidance is realized that minimizes the burden on the user.
[0115]
In addition, even if the system cannot indicate an appropriate landmark or the user is lost, he / she can get directions from the user while confirming the current location. Can be performed.
[Brief description of the drawings]
FIG. 1 shows an example of a map generated by a pedestrian route guidance system according to the present invention.
FIG. 2 is an overall configuration diagram of a pedestrian road guidance system according to the first embodiment.
FIG. 3 is a flowchart for explaining the overall operation of the pedestrian road guidance system according to the first embodiment;
FIG. 4 shows an example of an initial input screen for route guidance according to the first embodiment.
FIG. 5 shows an example of landmark information according to the first embodiment.
FIG. 6 is a guide map presentation example of the first embodiment.
FIG. 7 is an overall configuration diagram of a pedestrian road guidance system according to a second embodiment of the present invention.
FIG. 8 is a flowchart for explaining the overall operation of the pedestrian road guidance system according to the second embodiment;
FIG. 9 shows an example of an initial input screen for route guidance according to the second embodiment.
FIG. 10 shows an example of landmark information according to the second embodiment.
FIG. 11 shows an example of a voice interaction according to the second embodiment.
FIG. 12 shows a portable example of the road guidance system of the second embodiment.
FIG. 13 is an overall configuration diagram of a pedestrian road guidance system according to a third embodiment of the present invention.
FIG. 14 is a diagram for explaining control of route guidance according to position acquisition accuracy and position confirmation accuracy according to the third embodiment.
FIG. 15 is a flowchart for explaining the overall operation of the pedestrian road guidance system of the third embodiment.
FIG. 16 is a view for explaining the outline of the route guidance operation to the next branch point in the third embodiment.
FIG. 17 is a flowchart detailing the operation of Step C5 of FIG. 15;
FIG. 18 shows an example of landmark information according to the third embodiment.
FIG. 19 is a flowchart for explaining a landmark confirmation operation in the middle of step C6 in FIG. 15;
FIG. 20 is a diagram for explaining the timing for instructing landmark confirmation according to the third embodiment;
FIG. 21 is a flowchart illustrating in detail the confirmation of a branch point in step E7 of FIG.
FIG. 22 is an overall configuration diagram of a pedestrian road guidance system according to a fourth embodiment of the present invention.
FIG. 23 is a view for explaining acquisition of landmark information according to the fourth embodiment;
FIG. 24 shows an example of landmark information according to the fourth embodiment.
FIG. 25 is a view for explaining the operation of the landmark confirmation dialogue performed with the user of the fourth embodiment;
FIG. 26 is an overall configuration diagram of a pedestrian road guidance system according to a fifth embodiment of the present invention.
FIG. 27 is a view for explaining how guidance is performed after detecting the user's anxiety according to the fifth embodiment of the present invention;
FIG. 28 is an overall configuration diagram of a pedestrian road guidance system according to a sixth embodiment of the present invention (a configuration diagram when the input unit of the third embodiment is a voice recognition means).
FIG. 29 is an operational flowchart when a user is informed of nearby landmark information according to the sixth embodiment.
FIG. 30 shows an example of a search range when the position acquisition accuracy is high according to the sixth embodiment.
FIG. 31 shows an example of a search range when the position acquisition accuracy is low according to the sixth embodiment.
FIG. 32 shows an example of a voice interaction according to the sixth embodiment.
FIG. 33 is a diagram for explaining an example in which the method for limiting the number of speech recognition candidates of the speech recognition means in the sixth embodiment is applied to menu means;
[Explanation of symbols]
1 ... Input section
2. Road data storage unit
3. Route calculation unit
4 ... Landmark storage unit
5 ... Landmark selection part
6. Route guidance control unit
7… presentation part
8 Position acquisition unit
9 ... Movement distance acquisition unit
10: Position accuracy determination unit
11 ... Landmark information selection part
12 ... Anxiety level acquisition part

Claims (21)

A first input means for inputting a starting point and a destination;
Road data storage means for storing road data indicating the position and connection relationship of each road constituting the road network;
Route calculation means for calculating a route from the starting point input to the destination input by the first input means from road data stored in the road data storage means;
Landmark storage means for accumulating information on landmarks that are landmarks in the route of departure and destination, and that are registered in advance as being suitable for confirmation from pedestrians,
Landmark selection means for selecting a landmark that matches the path calculated by the path calculation means from among the landmarks stored in the landmark storage means;
Presenting means for presenting pedestrian route guidance to the user using the route calculated by the route calculating means and the landmark selected by the landmark selecting means;
Position acquisition means for acquiring the current position;
Second input means for inputting a response including whether or not the user confirms the route guidance presented by the presenting means;
The current position obtained by the presenting means based on the current position obtained by the position obtaining means, the position obtaining accuracy of the position obtaining means, and the response inputted by the second input means, and the actual current Position accuracy determination means for determining the accuracy with the position;
According to the determination result of the position accuracy determination means, a road guidance control means for controlling a method for presenting pedestrian road guidance to the user;
A pedestrian road guidance system comprising: A travel distance acquisition means for acquiring the travel distance of the user;
The presentation timing of the landmark in the route guidance for the user according to the movement distance acquired by the movement distance acquisition means and the visible distance of the landmark obtained from the landmark information stored in the landmark storage means A route guidance control means for controlling
Furthermore according to claim 1 Symbol placement guidance system for pedestrian characterized by including the. It said guidance control means, in response to the position acquisition accuracy of the position acquiring means, according to claim 1 for pedestrian guidance system, wherein the controlling the presentation interval of guidance for users. The route guidance control unit controls a method for presenting a route guide to a user according to a confirmation status of the route guidance of the user obtained from a response input by the second input unit. Item 4. A pedestrian road guidance system according to item 1 . The apparatus further comprises landmark information editing means for editing landmark information stored in the landmark storage means based on landmark information obtained from a response input by the second input means. The pedestrian road guidance system according to claim 1 . The landmark information editing means includes means for additionally editing how much of the landmark name, type and floor number can be confirmed as information indicating how much the landmark can be confirmed,
The route guidance control means is information on landmarks stored in the landmark storage means, and according to information indicating how much the landmarks additionally edited by the landmark information editing means can be confirmed. The pedestrian road guidance system according to claim 5, wherein a presentation method of road guidance by the presenting means is determined. Further comprising an anxiety level detecting means for detecting whether or not the user is in an anxious state,
Said guidance control means according to claim 1, characterized in that in response to that the user has detected the fact that in anxious state by the degree of anxiety detecting means, for controlling the presentation of guidance by the presentation unit The described pedestrian road guidance system. Enter your starting point and destination,
The route from the input departure point to the destination is calculated from road data indicating the position and connection relationship of each road constituting the road network,
A landmark that is suitable for the calculated route is selected from among landmarks that are registered in advance as being suitable for confirmation from pedestrians as landmarks in the route of departure and destination and route,
Using the calculated route and the selected landmark, a pedestrian route guide is presented to the user,
While obtaining the current position, input a response including whether to confirm from the user for the presented pedestrian route guidance,
Determine the accuracy of the current position assumed by the presented pedestrian route guidance and the actual current position from the acquired current position and its position acquisition accuracy and the input response;
According to the determination result, a method for presenting pedestrian road guidance to a user is controlled. A voice recognition means for recognizing a vocabulary of voices uttered by a user and inputting a starting point and a destination ;
Road data storage means for storing road data indicating the position and connection relationship of each road constituting the road network;
A route calculation means for calculating a route from the starting point input to the destination input by the voice recognition means from road data stored in the road data storage means;
Landmark storage means for accumulating information on landmarks that are landmarks in the route of departure and destination, and that are registered in advance as being suitable for confirmation from pedestrians,
Landmark selection means for selecting a landmark that matches the path calculated by the path calculation means from among the landmarks stored in the landmark storage means;
Presenting means for presenting pedestrian route guidance to the user using the route calculated by the route calculating means and the landmark selected by the landmark selecting means;
When the number of vocabularies that can be recognized at one time by the voice recognition means is N, the landmarks near the point that the user is supposed to be located at that time are selected within N and used as recognition target words of the voice recognition means. By sequentially registering, voice input control means for adaptively controlling so that the user can voice input landmarks present in the vicinity ,
A pedestrian road guidance system comprising: A voice recognition means for recognizing a vocabulary of voices uttered by a user and inputting a starting point and a destination ;
Road data storage means for storing road data indicating the position and connection relationship of each road constituting the road network;
A route calculation means for calculating a route from the starting point input to the destination input by the voice recognition means from road data stored in the road data storage means;
Landmark storage means for accumulating landmark information including a valid time zone registered in advance as a landmark that is a landmark in the starting point, destination, and route, and that is suitable for confirmation from a pedestrian,
Landmark selection means for selecting, from the landmarks stored in the landmark storage means, landmarks that match the path calculated by the path calculation means and the time input by the input means;
Presenting means for presenting pedestrian route guidance to the user using the route calculated by the route calculating means and the landmark selected by the landmark selecting means;
When the number of vocabularies that can be recognized at one time by the voice recognition means is N, the landmarks near the point that the user is supposed to be located at that time are selected within N and used as recognition target words of the voice recognition means. By sequentially registering, voice input control means for adaptively controlling so that the user can voice input landmarks present in the vicinity ,
A pedestrian road guidance system comprising: A voice recognition means for recognizing a vocabulary of voices uttered by a user and inputting a starting point and a destination ;
Time acquisition means for acquiring time;
Road data storage means for storing road data indicating the position and connection relationship of each road constituting the road network;
A route calculation means for calculating a route from the starting point input to the destination input by the voice recognition means from road data stored in the road data storage means;
Landmark storage means for accumulating landmark information including a valid time zone registered in advance as a landmark that is a landmark in the starting point, destination, and route, and that is suitable for confirmation from a pedestrian,
Landmark selection means for selecting a landmark that matches the path calculated by the path calculation means and the time acquired by the time acquisition means from the landmarks stored in the landmark storage means;
Presenting means for presenting pedestrian route guidance to the user using the route calculated by the route calculating means and the landmark selected by the landmark selecting means;
When the number of vocabularies that can be recognized at one time by the voice recognition means is N, the landmarks near the point that the user is supposed to be located at that time are selected within N and used as recognition target words of the voice recognition means. By sequentially registering, voice input control means for adaptively controlling so that the user can voice input landmarks present in the vicinity ,
A pedestrian road guidance system comprising: When there are more than N landmarks near the point where the user is supposed to be located at that time, the voice input control means first checks the type of the corresponding landmark and recognizes the voice recognition means. claim registered as target words, characterized in that it comprises means for re-registering only landmark type and audio input as a recognition target words of the voice recognition means to select the user from among the 9, 10 Or the pedestrian road guidance system of 11 . A menu selection means for displaying a list of a plurality of options and instructing the user to select , and inputting a starting point and a destination ,
Road data storage means for storing road data indicating the position and connection relationship of each road constituting the road network;
Route calculation means for calculating a route from the starting point input to the destination input by the menu selection means from the road data stored in the road data storage means;
Landmark storage means for accumulating information on landmarks that are landmarks in the route of departure and destination, and that are registered in advance as being suitable for confirmation from pedestrians,
Landmark selection means for selecting a landmark that matches the path calculated by the path calculation means from among the landmarks stored in the landmark storage means;
Presenting means for presenting pedestrian route guidance to the user using the route calculated by the route calculating means and the landmark selected by the landmark selecting means;
When the number of options that can be displayed as a list by the menu selection means is N, the user selects up to N landmarks in the vicinity of the point that the user is supposed to be located at that time, and uses them as list display target options of the menu selection means. Menu input control means for adaptively controlling so that the user can select and instruct landmarks existing in the vicinity by sequentially registering ,
A pedestrian road guidance system comprising: A menu selection means for displaying a list of a plurality of options and instructing the user to select , and inputting a starting point and a destination ,
Road data storage means for storing road data indicating the position and connection relationship of each road constituting the road network;
Route calculation means for calculating a route from the starting point input to the destination input by the menu selection means from the road data stored in the road data storage means;
Landmark storage means for accumulating landmark information including a valid time zone registered in advance as a landmark that is a landmark in the starting point, destination, and route, and that is suitable for confirmation from a pedestrian,
Landmark selection means for selecting, from the landmarks stored in the landmark storage means, landmarks that match the path calculated by the path calculation means and the time input by the input means;
Presenting means for presenting pedestrian route guidance to the user using the route calculated by the route calculating means and the landmark selected by the landmark selecting means;
When the number of options that can be displayed as a list by the menu selection means is N, the user selects up to N landmarks in the vicinity of the point that the user is supposed to be located at that time, and uses them as list display target options of the menu selection means. Menu input control means for adaptively controlling so that the user can select and instruct landmarks existing in the vicinity by sequentially registering ,
A pedestrian road guidance system comprising: A menu selection means for displaying a list of a plurality of options and instructing the user to select , and inputting a starting point and a destination ,
Time acquisition means for acquiring time;
Road data storage means for storing road data indicating the position and connection relationship of each road constituting the road network;
Route calculation means for calculating a route from the starting point input to the destination input by the menu selection means from the road data stored in the road data storage means;
Landmark storage means for accumulating landmark information including a valid time zone registered in advance as a landmark that is a landmark in the starting point, destination, and route, and that is suitable for confirmation from a pedestrian,
Landmark selection means for selecting a landmark that matches the path calculated by the path calculation means and the time acquired by the time acquisition means from the landmarks stored in the landmark storage means;
Presenting means for presenting pedestrian route guidance to the user using the route calculated by the route calculating means and the landmark selected by the landmark selecting means;
When the number of options that can be displayed as a list by the menu selection means is N, the user selects up to N landmarks in the vicinity of the point that the user is supposed to be located at that time, and uses them as list display target options of the menu selection means. Menu input control means for adaptively controlling so that the user can select and instruct landmarks existing in the vicinity by sequentially registering ,
A pedestrian road guidance system comprising: When there are more than N landmarks near the point where the user is supposed to be located at that time, the menu input control means first checks the type of the corresponding landmark and lists the menu selection means. register for display choices or claim 13 characterized by including means for newly registering only landmark type selected by the user instructions from that as a list displayed choices of the menu selection means 15. The pedestrian road guidance system according to 15 . The first and second input means are voice recognition means for recognizing a vocabulary of voice uttered by a user,
When the number of vocabularies that can be recognized at one time by the voice recognition unit is N, the route guidance control unit is arranged in the vicinity of a point where the user is supposed to be located at that time according to the determination result of the position accuracy determination unit. A means for adaptively controlling a user to input a landmark in the vicinity by selecting up to N landmarks and sequentially registering as landmarks to be recognized by the voice recognition means; The pedestrian road guidance system according to claim 1 . When there are more than N landmarks near the point where the user is supposed to be located at that time, the route guidance control unit first checks the type of the corresponding landmark and recognizes the speech recognition unit. 18. The information processing apparatus according to claim 17 , further comprising means for registering as a target vocabulary, and re-registering only landmarks of a type selected by the user and input as speech as recognition target vocabulary of the speech recognition means. Pedestrian route guidance system. The first and second input means are menu selection means for displaying a list of a plurality of options and instructing the user to select,
When the number of options that can be displayed as a list by the menu selection unit is N, the route guidance control unit is configured to determine a land near the point where the user is supposed to be located at that time according to the determination result of the position accuracy determination unit. A means for adaptively controlling the user so that the user can select and select landmarks in the vicinity by selecting up to N marks and sequentially registering them as list display target options of the menu selection means; The pedestrian road guidance system according to claim 1 . If there are more than N landmarks near the point where the user is supposed to be located at that time, the route guidance control means first checks the type of the corresponding landmark and lists the menu selection means. 20. The walking according to claim 19 , further comprising means for registering as a display target option, and registering again only a type of landmark selected by the user as a list display target option of the menu selecting unit. Road guidance system for people. The route guidance control means is instructed to input or select the voice when the landmark input or selected by the user is a landmark at a position off the route obtained by the route calculating means. 21. The pedestrian route guidance system according to claim 17, 18, 19 or 20 , further comprising means for restarting route guidance after causing the route calculation means to perform route search again with a landmark as a starting point. .

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